Symbols

+ (addition, using the Math block in Add mode), 92

/ (division, using the Math block in Divide mode), 92–93

* (multiplication, using the Math block in Multiply mode), 92

– (subtraction, using the Math block in Subtract mode), 92

= (Compare block in Equal To mode), 98> (Compare block in Greater Than mode),

98≥ (Compare block in Greater Than or

Equal To mode), 98< (Compare block in Less Than mode), 98≤ (Compare block in Less Than or

Equal To mode), 9890-degree coupled gears, 115, 125–126

A

absolute angle, turning motor to, 236, 364absolute value, 92, 97Action blocks (green header), 73

Brick Status Light block, 81, 240Display block, 79, 81, 88–89, 92, 97experimenting with, 79Large Motor block, 178, 179, 182, 363 Medium Motor block, 177–178, 179,

184, 236Move Steering block, 76–79, 82, 92Move Tank block, 81, 236–237, 298Sound block, 81, 93, 186, 235,

300, 364addition (Math block), 92Advanced blocks (blue header), 74

File Access block, 295–296, 303Invert Motor block, 236 Stop Program block, 245–246Unregulated Motor block, 184,

188, 296, 297advanced topics. See digging deeperangle connectors, 10angular beams, 7, 103

angular momentum, 365Apps on EV3 Brick

Brick Program App. See Brick Program App

creating, with Download as App tool, 73IR Control App, 86Port View App, 78

arccosine, 97arcsine, 97arctangent, 97arithmetic mean, 95Array Operations block, 233-234,

240–241, 301Auto-ID, 14, 27, 72averaging, 95axle connectors, 10axle pins, 8axles, 9

for driving and connecting, 133

B

backing up files, importance of, 295ball, red, 13ball joints, 8ball magazine, 13ball shooter, 13bang-bang controller, 100batteries for the EV3 Brick, 14beacon. See Remote IR Beaconbeams, 7

angular, 7, 103building with, 9difference from bricks, 5extending, 107naming, 6straight, 7thin, 8

behavior programming, using state machines, 368

bent (angular) beams, 7, 103bevel gears, 12, 115, 125–126bill of materials, Retail set 31313, 381–388biped robot, 131, 309

blades, 13blocks (LEGO elements). See piecesblocks, programming. See programming

blocksBluetooth connection for the EV3 Brick, 75bonus models, xx

AUDR3Y (people-eating plant), 228–229grabber module for ROV3R, 44L3AVE-ME-ALONE box, 129where to download, 44

BP App. See Brick Program Appbracing (building technique), 19, 21, 108,

172, 315, 330, 335double, 159with panels, 173to prevent gears from disengaging, 156

Brake at End, input of Move block, 77, 92Brick, the EV3 Intelligent. See EV3

Intelligent BrickBrick buttons, 49Brick Buttons block, 300Brick information, getting from EV3

Software, 72BrickLink, 6, 381Brick Program App, 48–58

Action blocks, 54–56Brick Status Light block, 56Display block, 55Large Motor block, 54Medium Motor block, 55Move block, 54Sound block, 55

adding a block, 50advanced programming, 62–64Block Palette, 53–58controlling motors with, 29default port for Color Sensor, 29default port for IR Sensor, 31default port for Touch Sensor, 27default ports for motors, 29deleting a block, 50editing a parameter of a block, 50empty sequence, 49

index

The LEGO MINDSTORMS EV3 Laboratory © 2013 by Daniele Benedettelli

Brick Program App, continuedimporting programs into

EV3 Software, 76keyboard, virtual, 53limitations, 49Loop block, 58quick guide, 50replacing a block, 50using the virtual keyboard, 53Wait blocks, 56

Wait Brick Buttons block, 57Wait Color Sensor block, 57Wait Infrared Remote block, 58Wait Infrared Sensor block, 58Wait Motor Rotation block, 57Wait Reflected Light Sensor block, 56Wait Time block, 57Wait Touch Sensor block, 56

Brick Status Light block, 56, 81, 240browsing the EV3 Brick’s memory, 72, 73Bruno Zarokian, 131bug, origin of the term, 88bugs, removing, 88building

with angular beams, 103with beams, 9with bracing technique. See bracing

(building technique)with bricks, 5with bushes, 157COLOR CUB3, 290–292with cross blocks, 110curved structures, 286, 327double output mechanism, 127extending beams, 107with gears, 111–120. See also gearsideas, 104–128jaws, 352modular structures, 32with motors, 123–128with pins, 5, 8–9R3MOTE for SUP3RCAR, 222–227ROV3R, 17–43SENTIN3L, 249–289with studless parts, 5sturdy structures, 19, 104–109SUP3RCAR, 191–221in three dimensions, 10, 110T-R3X, 309–357triangular structures, 104WATCHGOOZ3, 131–174

building instructions, general guidelines, 17–18

bushes (bushings), 9buying pieces online, 6, 381

C

cable. See USBcam, mechanism for transforming

motion, 255caster wheels, 23ceiling (mathematical operation), 97center of mass (COM), 131changing speed of rotation, 111changing heading (to steer ROV3R), 79changing torque, 111circular motion, transforming into

reciprocating motion, 121, 255, 268

code, of LEGO elements in the Retail set 31313, 381

coding. See programmingCOLOR CUB3, building, 290–292color headers, of programming blocks,

73–74color labels in the building instructions, 18Color Sensor, 14, 28, 57, 62Color Sensor block, 298COM (center of mass), 131combining sets. See EV3 setscomics, 1–4, 15–16, 45, 66–67, 84, 94,

101–102, 129, 175, 189–190, 228–229, 247–248, 293–294, 307–308, 358–361, 380, 402

commands from the Remote IR Beacon, 85Compare block, 98complex logic operations, computing using

the Math block, 371–372computer

connecting EV3 Brick to, 75programming without a. See Brick

Program Appconflict, using resources in multitasking

programs, 234, 245connecting the EV3 Brick to the

computer, 75connectors, 8–11Constant block, 98, 237, 239Content Editor, 70content overview of EV3 projects, 75contents of the Retail set 31313, 381

controller for wall-following program, 98–100

Controller, in EV3 Software, 70controllers

Bang-Bang, 82, 100with feedback, 100, 188, 297

convertingBrick Program into EV3 program, 76data types, 89, 98, 303

automatically, 90Education Core set 45544 into Retail

set 31313, 394–398with Education Expansion set 45560,

398–401numeric to logic values, 98Retail set 31313 into Education Core

set 45544, 389–393text to numbers, 303

cosine, 97crank, 121creating

Apps, with the Download as App tool, 73a Data Wire, 87My Blocks, 180new EV3 program, 70new EV3 project, 70a Sequence Wire, 80

cross axles, 9cross block gearbox, 224cross blocks, 10

using to hold gears, 155cross bracing. See bracing (building technique)cross holes, 9Current Power, of a motor (speed), 297cursor, wire spool, 87curved structures, building, 286, 327

D

daisy-chaining, of EV3 Bricks, 72, 75Data Operations blocks (red header), 74

Array Operations block, 233–234, 240–241, 301

Compare block, 98Constant block, 98, 237, 239Logic Operations block, 185–187, 299,

371–372Math block, 92–93, 95–97, 371–372Random block, 296, 298, 370Range block, 244, 374

404 indeX The LEGO MINDSTORMS EV3 Laboratory © 2013 by Daniele Benedettelli

Round block, 96Text block, 88–89Variable block, 232–233

data type conversion, 89, 98, 303automatic, 90

Data Wires, 87displaying real-time data on, 88passing through Loop and Switch

blocks, 91debugging EV3 programs, 88decorative pieces, 13deleting

a Data Wire, 87a programming block, 77a Sequence Wire, 80

De Morgan’s laws, 373differences between the EV3 Retail and

Education sets, 14, 389differential, 231

drive robot, 54electronic. See electronic differentialLEGO element, 232

digging deeperangular beams, 104 computing

complex logic operations, using Math block, 371–372

Degrees parameter to drive precisely, 78

Degrees parameter to steer precisely, 79

decimal numbers, 90 De Morgan’s laws, 373 electronic differential, computing wheel

speeds for, 232errors from Math blocks, handling, 97feedback controllers, 100 how motor power relates to speed, 297localization using beacons, 92motor speed regulation with PID

controller, 188state machines, behavior

modeling with, 368Display block, 55, 79, 88–89, 92, 97

preview, 81displaying real-time data in Data Wires, 88distribution, uniform, of random

numbers, 296division (Math block), 92–93

double-bevel gears, 114–118, 127, 149, 159

downloading bonus models, xx, 44EV3 program to the Brick, 70EV3 Software, 69more robots from EV3 Software, 69

driving along geometric paths, 62straight, 54, 217

E

eccentric mechanism, for transforming circular into reciprocating motion, 121, 255, 268

editing a Data Wire, 87electronic differential, 231

formula, 232implementation, 237

electronic pieces, 13–14electrostatic cloth, 35elements, names for. See piecesend of file, detecting, 296, 303equilibrium, static, 131errors

in feedback controllers, 100in math operations, 93, 97in measurements, 95in programs, checking for, 88

estimating robot position. See localizationeteroceptive (external) measurements, 92EV3 electronic pieces, 13–14EV3 Intelligent Brick, 13

backing up files, 295buttons, 49connecting to the computer , 75daisy-chaining, 72, 75updating firmware, 73, 295

EV3L Scientist’s Apprentice. See comicsEV3 pieces. See piecesEV3 sets

Education Core set 45544converting Retail set to, 389–393converting to Retail set, 394–398

Education Expansion set 45560, converting to Retail set with Education Core set, 398–401

Retail set 31313bill of materials, 381–388overview of pieces, 1–14

EV3 SoftwareContent Editor, 70Controller, 70debugging features, 88difference between Home and Education

Editions, 389EV3 User Guide, 69hardware page, 70–71importing third-party blocks, 73installing, 69Lobby, 69Memory Browser, 72Programming Interface, 70Programming Palettes, 73Project Properties, 75setup, 69tools, 72versions, 389wireless setup, 73

events, in state machines, 370, 371Execution Highlight (tool for debugging), 88experiments

beacon-following program, adding data display to, 93

driving along geometric paths, 62line following, tweaking the Brick

Program for, 63line following, EV3 program for, 83localization system for robots, 92musical instrument using IR Sensor, 93obstacle avoidance with the Touch

Sensor Bumper, 59solution, 62

traffic light, 58ROV3R, controlling with your hand, 88SENTIN3L, adding a ball shooter to, 306SENTIN3L, adding more actions to color

programming, 305SENTIN3L, controlling with colors, 305SENTIN3L, remote control for fighting

with, 306T-R3X, designing a new behavior

for, 379T-R3X, dressing prey to make it “tastier”

for, 379T-R3X, remote control for, 379video explorer, 65wall following, failure recovery strategy

for, 100

indeX 405The LEGO MINDSTORMS EV3 Laboratory © 2013 by Daniele Benedettelli

experiments, continuedwall-following EV3 program, tweaking

for smoother motion, 82wall-following parameters, tweaking

the, 100wall-following program, adding setup

phase to, 100WATCHGOOZ3, adding a motorized

function to, 187WATCHGOOZ3, making it follow

lines, 188exploring unknown environments, 64exponent function, 97extending beams, 107

F

feedback controllers, 100, 188, 297 File Access block, 295–296, 303files, managing on the EV3 Brick, 295–296filtering measurement noise, 95finite state machines, 367–371firmware, updating, 295floor (mathematical operation), 97flowcharts, 47Flow Control blocks (orange header), 73

Loop block, 76, 81, 83, 98, 99, 185, 246Loop Interrupt block, 73, 245–246Start block, 73, 76, 234Switch block, 82, 83, 91, 99, 184,

234, 370Wait block, 77, 81, 98, 298

flow, controlling the program, 81frames, 7, 8friction, 8

pins with, 9pins without, 9

Fundamental LEGO Unit, 7

G

gears, 11assembling, 113bevel, 12coupling at 90 degrees, 115, 125, 126cross block gearbox, 224double-bevel, 114–118, 127, 149, 159idler, 118input, 111knob wheels. See knob wheelsmeasuring and combining, 111–120

radius, 111ratio, 111self-locking, 119spur, 12as structural elements, 149worm, 11, 119, 152

gear trains, 118, 159geometric paths, driving along, 62geometry of angular beams, 103

H

Hardware Page, of EV3 Software, 70–71header colors, of programming blocks, 73–74heading

of beacon, 30, 85, 92changing (to steer ROV3R), 79

Heading, output of the IR Sensor block, 91holes, in Technic pieces, 9

I

ID, of LEGO elements in Retail set 31313, 381

identifying gears, 11idler gear, 118illegal math operations, 93importing Brick Programs into EV3

Software, 76improving readability of programs, 80Infrared Beacon, Remote. See Remote IR

BeaconInfrared Sensor, 14, 30Infrared Sensor block. See IR Sensor blockinput gear, 111inputs and outputs, adding to My Blocks

automatically, 183installing the EV3 Software, 69Intelligent Brick, EV3. See EV3 Intelligent

BrickInvert Motor block, 236IR Beacon, Remote. See Remote IR BeaconIR Control App, 86IR Sensor, 14, 30IR Sensor block, 87, 90

Detected output, 92Heading output, 91Measure Beacon mode, 90Measure Proximity mode, 87Proximity output, 91–92

J

jaws, mechanism, 352joints, ball, 8

k

kinematic model of a steering car, 231–232knob wheels, 12, 111, 114, 117, 125,

138, 218

L

Large Motor block, 54, 178, 179, 182, 363LED (light-emitting diode), 28, 298Lee Magpili, 11LEGO elements. See piecesLEGO MINDSTORMS official website, 5LEGO module (unit of measurement), 7light-emitting diode (LED), 28, 298limit switch, 146line following, 62–63Line-Following ROV3R, 28–29links (pieces), 8Linux, operating system, 13Lobby, of EV3 Software, 69localization

using colored spots, 33using multiple beacons, 92

location-aware robot. See localizationlocking notch, 253logarithm, 97logic operations, complex, computing using

the Math block, 371–372Logic Operations block, 185–187, 371–372Loop block, 76, 81, 83, 98, 99, 185, 246Loop Interrupt block, 73, 245–246

M

Magpili, Lee, 11managing files, 295–296Math block, 92–93

Advanced mode, 96using to compute logic operations,

371–372mathematical operations

in Advanced mode, 96illegal, 93

mean (arithmetic), 95Measure Beacon mode of the IR Sensor

block, 90measurement noise, 95

406 indeX The LEGO MINDSTORMS EV3 Laboratory © 2013 by Daniele Benedettelli

Measure Proximity mode of the IR Sensor block, 87

measuringaxles, 9, 19beams (angular and straight), 7cables, 13gears, 11motor speed precisely, 297pieces, 6–14pins, 8tires, 12

mechanism, eccentric, for transforming circular into reciprocating motion, 121, 255, 268

Medium Motor block, 55, 177–178, 179, 184, 236

miscellaneous pieces, 13modulo function, 97motion transformation, 121, 255, 352Motor Rotation block, 235, 297, 363Motor Rotation Sensor, 14, 19motors. See Servo MotorsMove block, in Brick Program App, 54Move Steering block, 76–79, 82, 92Move Tank block, 81, 236–237, 298moving

on legs, 121–122, 131, 249, 309with precision, 78a Sequence Wire, 80on treads, 40

multiple outputs from single motor, 127multiplication (Math block), 92multitasking, 234, 245–246, 305, 364,

366, 367musical instrument, experiment to make, 93My Block Builder tool, 180–186My Blocks, 74

adding inputs and outputs automatically, 183

additional configuration, 184creating, 180with input and outputs, 181not re-entrant, 364running two in parallel, 364–365

N

names of pieces, 6–14. See also piecesnavigation

by following lines, 62by following walls, 64

using beacons, 92using colored spots, 33

new EV3 program, creating, 70new EV3 project, creating, 70noise, affecting measurements, 95nomenclature of LEGO pieces, 6–14.

See also piecesnot re-entrant, My Blocks, 364notch, locking, 253

O

obstacle avoidance, 50, 178, 365online resources. See websitesoperating system of the EV3 Brick, 13output gear, 111outputs, multiple, from single motor, 127outputs and inputs, adding to My Blocks

automatically, 183

P

panels (decorative pieces), 13paper test pad, in EV3 set box sleeve, 5PID (proportional integrative derivative)

controller, 188, 297pieces

angular beams, 7axle pins, 8axles, 9beams, 6–8bushes (bushings), 9connectors, 8, 10cross blocks, 10decorative, 13electronic, 13–14frames, 7gears, 11links, 8miscellaneous, 13naming, 6–14pins, 8. See also pinsin Retail set 31313, 1–14, 381–388straight beams, 7thin beams, 8tires, 12wheels, 12

pin connectors, 10pins, 8

building a 4M pin, 20building with, 9with friction, 9

without friction, 9with stop bush, 22

Port View, in EV3 Software, 72Port View App on EV3 Brick, 78position-aware robot. See localizationprecision

measuring motor speed with, 297traveling a certain distance with, 78turning by a certain angle with, 79

preview of the Display block, 81Probability of True (parameter), 296program, definition, 47programming

basics, 47blocks. See programming blockswith the Brick Program App, 48–58choices, 48without a computer. See Brick

Program Appwith flowcharts, 47language, 47loops, 48making a backup, 179with My Blocks. See My BlocksROV3R, 49, 61–65, 86–93, 98running multiple parallel

sequences, 234SENTIN3L, 296–306sequences, 48sign (mathematical function), 242SUP3R CAR, 235–246T-R3X

to hunt, 363–366, 373–378to wander, 363–367

using arrays, 233using variables, 232WATCHGOOZ3

with Brick Program App, 177–178with EV3 Software, 178–187

programming blocksAction blocks (green header), 73

Brick Status Light block, 81, 240Display block, 79, 81, 88–89, 92, 97experimenting with, 79Large Motor block, 178–179,

182, 363 Medium Motor block, 177-178, 179,

184, 236Move Steering block, 76–79, 82, 92Move Tank block, 81, 236–237, 298

indeX 407The LEGO MINDSTORMS EV3 Laboratory © 2013 by Daniele Benedettelli

programming blocks, continuedAction blocks, continued

Sound block, 81, 93, 186, 235, 300, 364

Advanced blocks (blue header), 74File Access block, 295–296, 303Invert Motor block, 236 Stop Program block, 245, 246Unregulated Motor block, 184, 188,

296, 297changing aspect, 77Data Operations blocks (red header), 74

Array Operations block, 233–234, 240–241, 301

Compare block, 98Constant block, 98, 237, 239Logic Operations block, 185–187,

299, 371–372Math block, 92–93, 95–97, 371–372Random block, 296, 298, 370Range block, 244, 374Round block, 96Text block, 88–89Variable block, 232–233

deleting, 77Flow Control blocks (orange header), 73

Loop block, 76, 81, 83, 98, 99, 185, 246

Loop Interrupt block, 73, 245–246Start block, 73, 76, 234Switch block, 82, 83, 91, 99, 184,

234, 370Wait block, 77, 81, 98, 298

My Blocks. See My Blocks Sensor blocks (yellow header), 74, 87

Brick Buttons block, 300Color Sensor block, 298IR Sensor block, 87, 91–92Motor Rotation block, 235, 236,

297, 363Timer block, 184–185, 187, 299,

370, 371Touch Sensor block, 185, 299, 300

Programming Interface, of EV3 Software, 70using Zoom feature, 80

Programming Palettes, 70Action blocks (green header), 73Advanced blocks (blue header), 74custom blocks, 74Data blocks (red header), 74Flow Control blocks (orange header), 73

My Blocks (cyan header), 74Sensor blocks (yellow header), 74

Project Properties (EV3 Software), 75proportional controller, 100proportional integrative derivative (PID)

controller, 188, 297proprioceptive (internal) measurements, 92Proximity output of the IR Sensor block,

91–92Pythagorean Theorem, 103, 261

R

radius, of a gear, 111Random block, 296, 298, 370random numbers, 296Range block, 244, 374ratio, of coupled gears, 111readability of programs, improving, 80reading ports on the EV3 Brick, 72, 78real-time data, displaying with

Data Wires, 88reciprocating motion, 121, 255, 268reducing measurement noise, 95re-entrancy, and My Blocks, 364–365regulation of motor speed, 188remainder, of integer division, 97R3MOTE for SUP3R CAR, building,

222–227Remote IR Beacon, 14, 85

heading, 30, 85, 92using as beacon, 90, 242, 373using as remote, 86

removing programming blocks, 77resizing Loop and Switch blocks, 83resource conflicts, in multitasking

programs, 234, 245robots, getting more projects from EV3

Software, 69robots. See building; programming; names

of individual robotsrotation sensor, 14Round block, 96rounding numbers, 96ROV3R

Brick Program for driving along geometric paths, 62for line following, 63for obstacle avoidance using the

IR Sensor, 49for obstacle avoidance using the

Touch Sensor Bumper, 61for smooth line following, 63

building, 17–44with cleaning tool, 36–37cleaning tool assembly, 34with front IR sensor, 31front IR sensor assembly, 30grabber module, 44line-following, 28–29mobile base, 19modules overview, 18program

to drive on a square path, 77to drive precisely on a

square path, 78for following the beacon, 91

remote control, 86with Touch Sensor Bumper, 27Touch Sensor Bumper assembly, 25with treads, 40–43wall-following, 32–33with wheels, 23–24

rubber band, red, 13, 217rubber tires, 12rubber treads, 12running torque, 14running two identical My Blocks in parallel,

364–365

S

saving files, 295Sensor blocks (yellow header), 74, 87

Brick Buttons block, 300Color Sensor block, 298IR Sensor block, 87, 90Motor Rotation block, 235, 236,

297, 363Timer block, 184–185, 187, 299,

370–371Touch Sensor block, 185, 299, 300

sensorsColor Sensor, 28, 57, 62–63connecting to ports, 27IR Sensor, 14, 30third-party, 74Touch Sensor, 14, 25using a combination of, 33

SENTIN3Lbuilding, 249–289programming, 296–306remote control, 262

408 indeX The LEGO MINDSTORMS EV3 Laboratory © 2013 by Daniele Benedettelli

indeX 409

Sequence Wires, 80Servo Motors, 14

connecting to ports, 24multiple outputs from single motor, 127speed

maximum, 297measuring precisely, 297regulation, 188

sets. See EV3 setssetup of EV3 Software, 69sign (mathematical function),

implementation, 242sine, 97size. See measuringsleeve of the box, 5SM (state machine), 367–371snaking, way of laying out programs, 79Sound block, 55, 81, 93, 186, 235,

300, 364speed

of rotation, changing with gears, 111of Servo Motors, 14. See also Servo

Motors: speedspherical joints, 8spool, wire (cursor), 87square root, 92, 97stalled motor, and how to prevent, 14state machine (SM), 367–371state variable, of a state machine, 370static equilibrium, 131Start block, 73, 76, 234steering assembly, for SUP3R CAR,

216–217steering car, kinematic model, 231–232Steering input of Move Steering block, 77Stop Program block, 245, 246straight, driving, 54, 217straight beams, 7studless building, 5sturdy structures, 104–109subtraction (Math block), 92sum (Math block), 92SUP3R CAR

building, 191–221building R3MOTE for, 222–227programming, 235–246

Switch block, 82, 83, 91, 99, 184, 370using with multiple cases, 234

swords (decorative pieces), 13

T

tangent (trigonometric function), 96tea, algorithm to prepare, 47technical specifications of the EV3 Brick, 13Technic elements, 6–13teeth (decorative pieces), 12, 347, 351test pad, 5Text block, 88–89text-to-numeric conversion, 303Theorem, Pythagorean, 103, 261thin beams, 8third-party sensors, 74Timer block, 184–185, 187, 299, 370–371toe, of steering wheels, 217tools in EV3 Software, 72torque

definition, 111increasing, 111, 159running, 14of Servo Motors, 14stall, 14

Touch Sensor, 14, 25Touch Sensor block, 185, 299, 300T-R3X

behavior design, 366building, 309–357programming to hunt, 363–366,

373–378programming to wander, 363–367

tracking, of steering wheels, 217transforming motion, 121, 255, 352transitions, of a state machine, 370travelling by a precise distance, 78treads, 12

ROV3R with, 40–43trigonometric functions, 96–97troubleshooting Bluetooth connection, 76troubleshooting WATCHGOOZ3, 178truncating a decimal number, 96turning

exploiting the conservation of angular momentum, 365

kinematic model of a steering car, 231–232

by a precise number of degrees, 79types of data, 89

U

uniform distribution of random numbers, 296

Unregulated Motor block, 184untangling Data Wires, 87updating a Sequence Wire, 80updating the firmware of the EV3 Brick, 73USB

cable (USB-to-miniUSB), 5connection on the EV3 Brick, 75port, 14

user guide, accessing from EV3 Software, 69

V

Variable block, 232–233variable, state (of a state machine), 370versions

of EV3 set. See EV3 setsof EV3 Software, 389

W

Wait block, 77, 81, 98, 298walking base, of the SENTIN3L, 262walking technique, for WATCHGOOZ3, 131wall-following programs, 64–65, 98–100Wall-Following ROV3R, 32–33WATCHGOOZ3

Brick Program, 177–178building, 131–174programming with EV3 Software,

178–187troubleshooting, 178

websitesthe book’s, with support and bonus

material, 44BrickLink (online store), 6, 381Brickset, 381LEGO customer service, 381LEGO MINDSTORMS official, 5, 69

weight shifting, biped robot, 132wheels, 12

caster, 23Wi-Fi dongle, xixwire spool (cursor), 87Wireless Setup tool, EV3 Software, 73worm gear, 11, 119, 152writing programs without a computer. See

Brick Program App

Z

Zarokian, Bruno, 131zero, division by, 92zooming, 70, 80

The LEGO MINDSTORMS EV3 Laboratory © 2013 by Daniele Benedettelli